rename

Author: techcatgato

pybricks/experimental/odometry.c

@@ -1,3 +1,4 @@
+// SPDX-License-Identifier: MIT
 #include "py/mpconfig.h"
 #include "py/mphal.h"
 #include "py/runtime.h"
@@ -20,8 +21,8 @@ mp_obj_t calculate_odometry(int num_iters, float wheel_circ, float axle_track, m
 
         float dR = (float)(cur_r - last_r) * deg_to_mm;
         float dL = (float)(cur_l - last_l) * deg_to_mm;
-        float dD = (dR + dL) * 0.5f; 
-        float dH = (dR - dL) * inv_axle_track; 
+        float dD = (dR + dL) * 0.5f;
+        float dH = (dR - dL) * inv_axle_track;
 
         if (dD != 0.0f || dH != 0.0f) {
             float avg_h = rh + (dH * 0.5f);
@@ -39,9 +40,9 @@ mp_obj_t calculate_odometry(int num_iters, float wheel_circ, float axle_track, m
 
     uint32_t dur = mp_hal_ticks_ms() - start_time;
     mp_obj_t tuple[5] = {
-        mp_obj_new_float_from_f((float)dur * 0.001f), 
+        mp_obj_new_float_from_f((float)dur * 0.001f),
         mp_obj_new_int(num_iters),
-        mp_obj_new_float_from_f((float)num_iters / ((float)dur * 0.001f)), 
+        mp_obj_new_float_from_f((float)num_iters / ((float)dur * 0.001f)),
         mp_obj_new_float_from_f(rx),
         mp_obj_new_float_from_f(ry)
     };

pybricks/experimental/pb_module_experimental.c

@@ -6,8 +6,6 @@
 
 #include "pybricks/experimental/odometry.h"
 
-// 1. The actual benchmark logic
-// Keep this STATIC as it is used by the function object below
 static mp_obj_t experimental_odometry_benchmark(size_t n_args, const mp_obj_t *args) {
     int num_iters = mp_obj_get_int(args[0]);
     float wheel_circ = mp_obj_get_float(args[1]);
@@ -17,21 +15,13 @@ static mp_obj_t experimental_odometry_benchmark(size_t n_args, const mp_obj_t *a
 
     return calculate_odometry(num_iters, wheel_circ, axle_track, right_func, left_func);
 }
-// Define the function object
 static MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(experimental_odometry_benchmark_obj, 5, 5, experimental_odometry_benchmark);
 
-// 2. The Globals Table
-// REMOVED 'STATIC' to prevent 'defined but not used' error
 const mp_rom_map_elem_t pb_module_experimental_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_odometry_benchmark), MP_ROM_PTR(&experimental_odometry_benchmark_obj) },
 };
-
-// 3. Define the dict WITHOUT 'STATIC'
-// This makes it visible to the auto-registration system without triggering the warning
 MP_DEFINE_CONST_DICT(pb_module_experimental_globals, pb_module_experimental_globals_table);
 
-// 4. Define the module structure WITHOUT 'STATIC'
-// This matches the 'extern' declaration the build system generates
 const mp_obj_module_t pb_module_experimental = {
     .base = { &mp_type_module },
     .globals = (mp_obj_dict_t *)&pb_module_experimental_globals,

pybricks/experimental/platform_math.h

@@ -8,19 +8,26 @@ static inline float pb_fast_sin(float theta) {
 
     // 1. Range Reduction to [-PI, PI]
     #if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
-        // Spike Prime (Cortex-M4F) optimized wrap
-        float x_wrap = theta * 0.159154943f; 
-        x = theta - (float)((int)(x_wrap + (x_wrap > 0.0f ? 0.5f : -0.5f))) * 6.2831853f; 
+    // Spike Prime (Cortex-M4F) optimized wrap
+    float x_wrap = theta * 0.159154943f;
+    x = theta - (float)((int)(x_wrap + (x_wrap > 0.0f ? 0.5f : -0.5f))) * 6.2831853f;
     #else
-        // EV3 (ARM9) stable wrap
-        while (x > 3.14159265f) x -= 6.28318531f;
-        while (x < -3.14159265f) x += 6.28318531f;
+    // EV3 (ARM9) stable wrap
+    while (x > 3.14159265f) {
+        x -= 6.28318531f;
+    }
+    while (x < -3.14159265f) {
+        x += 6.28318531f;
+    }
     #endif
 
     // 2. Mirroring to [-PI/2, PI/2]
-    if (x > 1.5707963f) x = 3.1415926f - x;
-    else if (x < -1.5707963f) x = -3.1415926f - x;
-    
+    if (x > 1.5707963f) {
+        x = 3.1415926f - x;
+    } else if (x < -1.5707963f) {
+        x = -3.1415926f - x;
+    }
+
     // 3. The Spike Minimax Polynomial
     float x2 = x * x;
     return x * (0.99999906f + x2 * (-0.16665554f + x2 * (0.00831190f + x2 * -0.00018488f)));